diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h | 63 |
1 files changed, 63 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h new file mode 100644 index 00000000000..f1f40ffdf19 --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -0,0 +1,63 @@ + + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SOLVER_CONSTRAINT_H +#define BT_SOLVER_CONSTRAINT_H + +class btRigidBody; +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" + +//#define NO_FRICTION_TANGENTIALS 1 + +///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. +ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint +{ + btVector3 m_relpos1CrossNormal; + btVector3 m_relpos2CrossNormal; + btVector3 m_contactNormal; + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + btScalar m_appliedVelocityImpulse; + int m_solverBodyIdA; + int m_solverBodyIdB; + btScalar m_friction; + btScalar m_restitution; + btScalar m_jacDiagABInv; + btScalar m_penetration; + btScalar m_appliedImpulse; + + int m_constraintType; + int m_frictionIndex; + int m_unusedPadding[2]; + + enum btSolverConstraintType + { + BT_SOLVER_CONTACT_1D = 0, + BT_SOLVER_FRICTION_1D + }; +}; + + + + + + +#endif //BT_SOLVER_CONSTRAINT_H + + |